Re: Unexpected behavior, checking for loop closures when mapping with lidar.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Unexpected-behavior-checking-for-loop-closures-when-mapping-with-lidar-tp7968p7977.html

rtabmap is trying to close a loop closure (maybe a proximity detection) but the graph is deforming more than RGBD/OptimizeMaxError ratio, so the loop is rejected.

In the warning, the abs error is 20 deg on one of the link (550->552), either it is good that the loop has been rejected, or that 550->552 link having largest error is a place where odometry drift was high (the loop should be good). In second case, you can try increasing RGBD/OptimizeMaxError to 4 or 5.

cheers,
Mathieu